Towards A non-aided monocular visual odometry system /
Islam Alaa Eldin Mustafa Ali
Towards A non-aided monocular visual odometry system / نحو نظام رؤية أحادي لتحديد المسافات بدون مساعدة أخري Islam Alaa Eldin Mustafa Ali ; Supervised Amr Galaleldin Ahmed Wassal - Cairo : Islam Alaa Eldin Mustafa Ali , 2018 - 212 P. : charts , facsimiles ; 30cm
Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Computer Engineering
Recently, a huge attention is given to vision-based solutions in a wide range of applications including robotics, smart driving among others. One category of such solutions is visual odometry (VO), which is the process of estimating the complete body/camera pose using the images captured by the camera. In this thesis, previous e orts exerted in VO and its tuning are reviewed and criticized qualitatively. Moreover, a generic framework for testing, evaluating, and rapid prototyping of such systems is provided. Consequently, this framework is used to analyze the impact VO parameters on the pose estimation performance both from the accuracy point of view as well as the time complexity. Finally, a novel method for enhancing the performance of monocular VO is proposed with the intent of reaching a non-aided vision-based solution
Computer Vision Robots Vision Visual Odometry
Towards A non-aided monocular visual odometry system / نحو نظام رؤية أحادي لتحديد المسافات بدون مساعدة أخري Islam Alaa Eldin Mustafa Ali ; Supervised Amr Galaleldin Ahmed Wassal - Cairo : Islam Alaa Eldin Mustafa Ali , 2018 - 212 P. : charts , facsimiles ; 30cm
Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Computer Engineering
Recently, a huge attention is given to vision-based solutions in a wide range of applications including robotics, smart driving among others. One category of such solutions is visual odometry (VO), which is the process of estimating the complete body/camera pose using the images captured by the camera. In this thesis, previous e orts exerted in VO and its tuning are reviewed and criticized qualitatively. Moreover, a generic framework for testing, evaluating, and rapid prototyping of such systems is provided. Consequently, this framework is used to analyze the impact VO parameters on the pose estimation performance both from the accuracy point of view as well as the time complexity. Finally, a novel method for enhancing the performance of monocular VO is proposed with the intent of reaching a non-aided vision-based solution
Computer Vision Robots Vision Visual Odometry